六足步行机构的运动分析与仿真  

Motion Analysis and Simulation for a Hexapod Robot

作　　者：季亚超[1] 师帅兵[1] 高鹏[1] 

机构地区：[1]西北农林科技大学机械与电子工程学院,陕西杨凌712100

出　　处：《农机化研究》2013年第9期35-37,共3页Journal of Agricultural Mechanization Research

基　　金：国家公益性行业(农业)科研专项(201203016)

摘　　要：地球上近50%的地面为非结构环境,传统的轮式或履带式车辆难以到达。针对这种情况,介绍了一种六足步行机构,该机构在工作过程中能耗小且速度高。同时,利用结构分析、运动分析和力分析等方法,结合平面连杆机构的相关理论对该机构进行了分析,并采用Pro/E软件对其进行了三维造型和单腿运动仿真。结果标明,该机构是可行且合理的,并且具有良好的移动性能,为该六足步行机构的设计和进一步开发研究提供了一定的理论依据。Nearly half of the ground on the earth is unstructured environment,which is hard to reach for the traditional wheel or tracklayer.This article introduces a hexapod robot which has the the characteristics of less energy consumption and higher walking speed,then analyses it with the method of structural analysis,kinematic analysis and force analysis and the theory about planar linkage.Then some simulation is taken for it.Therefore,the design of the hexapod robot with good capacity of locomotion is reasonable and feasible.This article provides the theoretical basis for the design and the further development research.

关 键 词：六足步行机构 运动分析 仿真 

分 类 号：TP391.91[自动化与计算机技术—计算机应用技术]